Paper Info
Title
Heuristic-based laser scan matching for outdoor 6d SLAM
Abstract
6D SLAM (Simultaneous Localization and Mapping) or 6D Concurrent Localization and Mapping of mobile robots considers six dimensions for the robot pose, namely, the x, y and z coordinates and the roll, yaw and pitch angles. Robot motion and localization on natural surfaces, e.g., driving with a mobile robot outdoor, must regard these degrees of freedom. This paper presents a robotic mapping method based on locally consistent 3D laser range scans. Scan matching, combined with a heuristic for closed loop detection and a global relaxation method, results in a highly precise mapping system for outdoor environments. The mobile robot Kurt3D was used to acquire data of the Schloss Birlinghoven campus. The resulting 3D map is compared with ground truth, given by an aerial photograph.
Year
DOI
Venue
2005
10.1007/11551263_25
KI
Keywords
Field
DocType
concurrent localization,robot motion,heuristic-based laser,global relaxation method,mobile robot,mobile robot kurt3d,outdoor environment,simultaneous localization,precise mapping system,robotic mapping method,schloss birlinghoven campus,aerial photograph,ground truth,laser scanning,degree of freedom,simultaneous localization and mapping
Computer vision,Heuristic,Computer science,Relaxation (iterative method),Robotic mapping,Ground truth,Artificial intelligence,Robot,Simultaneous localization and mapping,Robotics,Mobile robot
Conference
Volume
ISSN
ISBN
3698
0302-9743
3-540-28761-2
Citations 
PageRank 
References 
17
0.98
22
Authors
4
Name
Order
Citations
PageRank
Andreas Nüchter1134190.03
Kai Lingemann255535.98
Joachim Hertzberg31571142.29
Hartmut Surmann469950.40